Related papers: Safe Controlled Invariance for Linear Systems Usin…
We study a class of combinatorial scheduling problems characterized by a particular type of constraint often associated with electrical power or gas energy. This constraint appears in several practical applications and is expressed as a sum…
Accurate quantification of safety is essential for the design of autonomous systems. In this paper, we present a methodology to characterize the exact probabilities associated with invariance and recovery in safe control. We consider a…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
In this paper we consider a class of linear time invariant systems with infinitely many unstable modes. By using the parameterization of all stabilizing controllers, we show that H-infinity controllers for such systems can be computed using…
We investigate the representation of symmetric polynomials as a sum of squares. Since this task is solved using semidefinite programming tools we explore the geometric, algebraic, and computational implications of the presence of discrete…
In this work, we propose a robust approach to design distributed controllers for unknown-but-sparse linear and time-invariant systems. By leveraging modern techniques in distributed controller synthesis and structured linear inverse…
The control Lyapunov function (CLF) approach to nonlinear control design is well established. Moreover, when the plant is control affine and polynomial, sum-of-squares (SOS) optimization can be used to find a polynomial controller as a…
Identifying controlled safety invariant sets (CSISs) is essential for safety-critical systems. This paper addresses the problem of computing CSISs for black-box discrete-time systems, where the dynamics are unknown and only limited…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
In this paper, we consider the problem of invariant set computation for black-box switched linear systems using merely a finite set of observations of system trajectories. In particular, this paper focuses on polyhedral invariant sets. We…
In this paper, we present a geometric approach for computing the controlled invariant set of a continuous-time control system. While the problem is well studied for in the ellipsoidal case, this family is quite conservative for constrained…
We consider noisy input/state data collected from an experiment on a polynomial input-affine nonlinear system. Motivated by event-triggered control, we provide data-based conditions for input-to-state stability with respect to measurement…
We study a proof methodology for verifying the safety of data invariants of highly-available distributed applications that replicate state. The proof is (1) modular: one can reason about each individual operation separately, and (2)…
We introduce a method for controlling systems with nonlinear dynamics and full actuation by approximating the dynamics with polynomials and applying a system level synthesis controller. We show how to optimize over this class of controllers…
Linear-Rate Multi-Mode Systems is a model that can be seen both as a subclass of switched linear systems with imposed global safety constraints and as hybrid automata with no guards on transitions. We study the existence and design of a…
We provide out-of-sample certificates on the controlled invariance property of a given set with respect to a class of black-box linear systems. Specifically, we consider linear time-invariant models whose state space matrices are known only…
Handling an infinite number of inequality constraints in infinite-dimensional spaces occurs in many fields, from global optimization to optimal transport. These problems have been tackled individually in several previous articles through…
Motivated by the need to simultaneously guarantee safety and stability of safety-critical dynamical systems, we construct permissive barrier certificates in this paper that explicitly maximize the region where the system can be stabilized…
This paper presents novel theoretical results to guarantee multi-agent set invariance using Matrix Control Barrier Functions in sampled-data systems. More specifically, the paper presents conditions under which heterogeneous control-affine…